CN113120109A - Auxiliary support structure of wheel-foot composite humanoid robot and control method thereof - Google Patents
Auxiliary support structure of wheel-foot composite humanoid robot and control method thereof Download PDFInfo
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- CN113120109A CN113120109A CN202110386949.XA CN202110386949A CN113120109A CN 113120109 A CN113120109 A CN 113120109A CN 202110386949 A CN202110386949 A CN 202110386949A CN 113120109 A CN113120109 A CN 113120109A
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- transmission rod
- humanoid robot
- rotatably connected
- wheel
- sliding block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention provides an auxiliary support structure of a wheel-foot composite humanoid robot and a control method thereof, belonging to the technical field of humanoid robots. The auxiliary support structure comprises a transmission rod system, a sliding block, two connecting rods and two support frames, wherein the transmission rod system is rotatably connected with the leg of the humanoid robot, the transmission rod system is rotatably connected with the sliding block close to the tail end of the crus of the humanoid robot, the sliding block is slidably connected in a sliding groove at the tail end of the crus of the humanoid robot, the sliding block is rotatably connected with the connecting rods, one end of each support frame is rotatably connected with the connecting rod, and the other end of each support frame is rotatably connected with the tail end of. The invention utilizes the leg flexion and extension movement of the robot as power to realize the expansion and the retraction of the auxiliary supporting structure, thereby conveniently and rapidly realizing the parking supporting operation requirement of the wheel-foot composite humanoid robot.
Description
Technical Field
The invention belongs to the technical field of humanoid robots, and particularly relates to an auxiliary support structure of a wheel-foot composite humanoid robot and a control method thereof.
Background
With the development of the times, the requirements of people on mobile robots are gradually increased, and higher expectations are provided for the flexibility, stability, speed efficiency and the like of robot movement. The wheel-foot combined type mobile robot integrates the advancing characteristics of a wheel type robot and a leg type robot, can realize high-speed wheel type advancing on a flat road surface and striding advancing on an obstacle road surface, and greatly improves the advancing speed and efficiency of the mobile robot. However, compared to a four-legged wheeled-leg robot, a two-legged robot has only two support points in wheel balance, and tends to tilt during a parking operation, and therefore the two-legged wheeled-leg robot is required to have higher stability during the parking operation. Therefore, an auxiliary supporting structure capable of automatically switching after the robot reaches an operation place is designed for the robot with the double-leg wheel legs, and the stability and the operation capacity of the parking operation of the robot with the double-leg wheel legs can be well improved.
The existing auxiliary supporting structure generally adopts the design of a single driving supporting device, and a driving device and a corresponding control system are required to be added on the robot. Due to the design, the whole set of auxiliary supporting structure occupies a large space, and the hardware system of the whole robot is complicated. The existing auxiliary supporting structure without the driving device needs manual assistance to be unfolded and folded, the operation in the using process is more complex, and the design concept of robot automation is not suitable.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an auxiliary support structure of a wheel-foot composite humanoid robot and a control method thereof, which realize the expansion and the retraction of the auxiliary support structure by using the flexion and extension of the leg part of the robot as power, and ensure that the wheel-foot composite humanoid robot can flexibly realize the support operation while ensuring the simple structure and convenient execution.
The present invention achieves the above-described object by the following technical means.
An auxiliary support structure of a wheel-foot composite humanoid robot comprises: the robot comprises a transmission rod system, a sliding block, two connecting rods and two supporting frames, wherein the transmission rod system is rotatably connected with legs of the humanoid robot, the transmission rod system is rotatably connected with the sliding block close to the tail end of the crus of the humanoid robot, the sliding block is slidably connected in a sliding groove at the tail end of the crus of the humanoid robot, the sliding block is rotatably connected with the connecting rods, one end of each supporting frame is rotatably connected with the corresponding connecting rod, and the other end of each supporting frame is hinged; the transmission rod system follows the bending and stretching movement of the leg parts of the humanoid robot.
In the technical scheme, the transmission rod system comprises a first transmission rod, a second transmission rod and a third transmission rod, one end of the first transmission rod is rotatably connected with one end of the second transmission rod, the other end of the first transmission rod is rotatably connected with a thigh of the humanoid robot, the other end of the second transmission rod is rotatably connected with a shank of the humanoid robot, and one end of the third transmission rod is rotatably connected to the second transmission rod.
In the technical scheme, a plurality of shaft holes A are formed in the position, connected with the third transmission rod, of the second transmission rod, and the third transmission rod can be matched with each shaft hole A respectively.
Among the above-mentioned technical scheme, the slider passes through the connecting rod and rotates the joint support frame, and the slider rotates the one end of connecting the connecting rod, and the connecting rod other end rotates the one end of joint support frame.
In the technical scheme, the support frame is hinged to a cylindrical shaft at the tail end of the crus of the humanoid robot through the shaft hole B, and the support frame can rotate around the cylindrical shaft.
A control method of an auxiliary supporting structure of a wheel-foot composite humanoid robot specifically comprises the following steps: the humanoid robot arrives at the operation position, when the humanoid robot is in a leg bending state, the knee joint motor executes a leg stretching instruction to drive the transmission rod system to rotate, so that an included angle between the first transmission rod and the second transmission rod is enlarged, the sliding block at the tail end of the third transmission rod moves upwards along the sliding groove, one end of each of the two connection rods rotates inwards around the corresponding sliding block to drive the two support frames to be folded, and the support wheels are sufficient to form the composite humanoid robot.
Furthermore, after the humanoid robot finishes the operation, the knee joint motor executes a leg bending instruction to drive the transmission rod system to rotate, so that an included angle between the first transmission rod and the second transmission rod is reduced, the sliding block at the tail end of the third transmission rod moves downwards along the sliding groove, one end of each of the two connecting rods rotates outwards around the sliding block, and then the two support frames are driven to be unfolded and folded upwards.
The invention has the beneficial effects that:
the auxiliary supporting structure comprises a transmission rod system, a sliding block, a connecting rod and a supporting frame, wherein the sliding block is arranged at the tail end of the transmission rod system and is matched with the transmission rod system to realize the folding of the supporting frame of the robot when the leg is bent and the supporting of the robot when the leg is extended and the supporting frame is erected; the invention utilizes the leg bending and stretching motion of the wheel-foot composite humanoid robot as power to realize the expansion and the retraction of the auxiliary supporting structure, thereby meeting the requirement of the parking operation of the wheel-foot composite humanoid robot. The invention does not need additional driving devices, has simple and convenient structure and convenient execution, and can flexibly realize the supporting operation of the wheel-foot composite humanoid robot.
Drawings
FIG. 1 is a schematic view of the auxiliary support structure according to the present invention in a state of a humanoid robot bending legs;
FIG. 2 is a schematic view of the auxiliary support structure according to the present invention when the humanoid robot is converted from a leg bending state to a leg stretching state;
FIG. 3 is a schematic view of the auxiliary support structure of the present invention in a state of extending legs of a humanoid robot;
FIG. 4 is a partial detail view of the auxiliary support structure of the present invention;
FIG. 5 is a flow chart of the operation of the auxiliary support structure support of the present invention;
FIG. 6 is a flow chart of the operation of the auxiliary support structure retraction of the present invention;
in the figure: 1-a first transmission rod, 2-a second transmission rod, 3-a third transmission rod, 4-a slide block, 5-a connecting rod, 6-a support frame, 7-a cylindrical shaft, 8-a chute, 9-a triangular structure A, 10-a triangular structure B, 11-a shaft hole A and 12-a shaft hole B.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
The wheel-foot composite humanoid robot provided by the invention is a robot with a driving wheel replacing the foot structure of the humanoid robot, the leg of the wheel-foot composite humanoid robot can complete leg bending and leg stretching actions, and high-speed and flexible advancing and steering are realized by the driving wheel.
As shown in fig. 1, 2 and 3, the auxiliary support structure of the wheel-foot composite humanoid robot comprises a transmission rod system (a first transmission rod 1, a second transmission rod 2 and a third transmission rod 3), a sliding block 4, two connecting rods 5 and two support frames 6. One end of the first transmission rod 1 is rotatably connected with one end of the second transmission rod 2, the other end of the first transmission rod 1 is rotatably connected with a thigh of the wheel-foot composite humanoid robot, and the other end of the second transmission rod 2 is rotatably connected with a shank of the wheel-foot composite humanoid robot. Evenly be equipped with a plurality of shaft holes A11 on the second transfer line 2 for the one end of connecting third transfer line 3 rotates, because shaft hole A11 sets up a plurality ofly, in the use, according to actual need, can adjust the hookup location of 3 one ends of third transfer line, thereby change two support frames 6 open the angle, specifically do: when the connecting position of one end of the third transmission rod 3 is close to the crus of the wheel-foot composite humanoid robot, the opening angle of the two support frames 6 is reduced, and when the connecting position of one end of the third transmission rod 3 is far away from the crus of the wheel-foot composite humanoid robot, the opening angle of the two support frames 6 is increased; the other end of the third transmission rod 3 is rotatably connected with a slide block 4, and the slide block 4 is slidably connected in a slide groove 8 at the tail end of the shank of the wheel-foot composite humanoid robot (see figure 4); the slider 4 rotates and connects the one end at connecting rod 5, and the connecting rod 5 other end rotates the one end of connecting support frame 6, and support frame 6 passes through shaft hole B12 and articulates on the terminal cylinder axle 7 (see figure 4) of sufficient compound humanoid robot shank of wheel, and support frame 6 can rotate around cylinder axle 7.
As shown in fig. 5, the process of completing the auxiliary support by the auxiliary support structure of the wheel-foot composite humanoid robot of the invention is as follows: the wheel-foot composite humanoid robot reaches an operation position, the industrial personal computer sends a support instruction, a code disc value at a knee joint motor is read, a knee joint angle (an angle value between a thigh and a shank) is further obtained, whether the leg is in a leg bending state or not is judged, if the leg is in a straight state, the knee joint angle is kept unchanged, if the leg is in the leg bending state, the knee joint motor executes a leg stretching instruction, leg stretching movement of the leg drives one end of a first transmission rod 1 of an auxiliary support structure to rotate around the big leg of the humanoid robot, the other end of the first transmission rod 1 drives one end of a second transmission rod 2 to rotate around the shank of the humanoid robot, an included angle between the first transmission rod 1 and the second transmission rod 2 is enlarged, the other end of the second transmission rod 2 drives one end of a third transmission rod 3 to rotate, the third transmission rod 3 drives a slide block 4 at the other end to, then the two support frames 6 are driven to rotate inwards around the cylindrical shaft 7 and are folded inwards; until the code wheel return value at the knee joint motor shows that the knee joint angle is 180 degrees, the leg stretching movement is finished; the auxiliary supporting structure completes the support of the wheel-foot composite humanoid robot, so that the robot has the requirement of standing operation. As shown in fig. 6, when the wheel-foot composite humanoid robot does not need to be supported (the industrial personal computer does not send a support instruction any more), a code wheel value at the knee joint motor is read, so that an angle value between a thigh and a shank is obtained, whether the shank is in a leg stretching state is judged, if the shank is in a leg bending state, the knee joint angle is kept unchanged, if the shank is in a leg stretching state, the knee joint motor executes a leg bending instruction, leg bending motion of the shank drives a first transmission rod 1 and a second transmission rod 2 to respectively rotate around the thigh and the shank of the humanoid robot along the reverse direction, an included angle between the first transmission rod 1 and the second transmission rod 2 is reduced, the third transmission rod 3 drives a slide block 4 at the other end to move downwards along a chute 8, one ends of two connecting rods 5 rotate outwards around the slide block 4, and further; and (5) completing the folding support until the angle of the knee joint reaches the target angle.
The invention utilizes the transmission rod system to utilize the bending and stretching motion of the leg part of the wheel-foot composite humanoid robot, and converts the bending and stretching motion of the leg part of the wheel-foot composite humanoid robot into the linear motion for driving the sliding block 4, thereby further completing the unfolding and folding motion of the support frame 6; when the legs of the wheel-foot composite humanoid robot are completely straightened, the support frame is ensured to be completely unfolded, and the feet of the robot are completely supported. The transmission rod system adopts a two-stage connecting rod structure, avoids a connecting rod dead point phenomenon caused by bending of the leg of the robot, can better complete a power transmission task, and forms two triangular structures (such as a triangular structure A9 and a triangular structure B10 in the figure 3) when the leg of the humanoid robot extends, so that the structural characteristics are more stable and firm, and the stability of the support frame 6 during working is ensured.
The invention firstly converts the rotary motion of the transmission rod system into the linear motion of the sliding block 4, and then converts the linear motion of the sliding block 4 into the rotary motion of the supporting frame 6 around the cylindrical shaft 7 at the end of the lower leg, thereby unfolding or folding the supporting frame 6 of the foot.
The mechanism of the motion of the crank-like sliding block is adopted, the sliding block 4 converts the rotary motion of the transmission rod system into linear motion, the connecting rod 5 is further driven to rotate, the connecting rod 5 drives the supporting frame 6 to rotate, and the motion range of the supporting frame 6 just meets the supporting requirement of the composite humanoid robot by wheels: the support frame 6 is folded inwards to enable the bottom of the support frame 6 to be parallel to the ground, so that the wheel-foot composite humanoid robot is stably supported, is outwards unfolded, and does not interfere with the advancing and steering movement of the wheel part of the wheel-foot composite humanoid robot. The support structure can convert the flexion and extension movement of the knee joint into the driving force for driving the support frame 6 to unfold and fold, so that the robot is stably supported, and the support structure can ensure that the normal movement of the robot is not hindered after the support frame 6 of the robot is folded, so that the support structure has strong flexibility.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (7)
1. The utility model provides a sufficient compound humanoid robot's of wheel auxiliary stay structure which characterized in that includes: the robot comprises a transmission rod system, a sliding block (4), two connecting rods (5) and two supporting frames (6), wherein the transmission rod system is rotatably connected with legs of the humanoid robot, the transmission rod system is rotatably connected with the sliding block (4) close to the tail end of the crus of the humanoid robot, the sliding block (4) is slidably connected in a sliding chute (8) at the tail end of the crus of the humanoid robot, the sliding block (4) is rotatably connected with the connecting rods (5), one end of each supporting frame (6) is rotatably connected with the connecting rod (5), and the other end of each supporting frame is hinged with the tail; the transmission rod system follows the bending and stretching movement of the leg parts of the humanoid robot.
2. The auxiliary support structure of the wheel-foot composite humanoid robot is characterized in that the transmission rod system comprises a first transmission rod (1), a second transmission rod (2) and a third transmission rod (3), one end of the first transmission rod (1) is rotatably connected with one end of the second transmission rod (2), the other end of the first transmission rod (1) is rotatably connected with a thigh of the humanoid robot, the other end of the second transmission rod (2) is rotatably connected with a shank of the humanoid robot, and one end of the third transmission rod (3) is rotatably connected with the second transmission rod (2).
3. The auxiliary support structure of the wheel-foot composite humanoid robot is characterized in that a plurality of shaft holes A (11) are formed at the position where the second transmission rod (2) is connected with the third transmission rod (3), and the third transmission rod (3) can be matched with each shaft hole A (11).
4. The auxiliary support structure of the wheel-foot composite humanoid robot is characterized in that the sliding block (4) is rotatably connected with the support frame (6) through a connecting rod (5), the sliding block (4) is rotatably connected with one end of the connecting rod (5), and the other end of the connecting rod (5) is rotatably connected with one end of the support frame (6).
5. The auxiliary support structure of the wheel-foot composite humanoid robot is characterized in that the support frame (6) is hinged on a cylindrical shaft (7) at the tail end of a lower leg of the humanoid robot through a shaft hole B (12), and the support frame (6) can rotate around the cylindrical shaft (7).
6. A control method of an auxiliary support structure of a wheel-foot composite humanoid robot according to any one of claims 1-5, characterized in that: the humanoid robot arrives at an operation position, when the humanoid robot is in a leg bending state, a knee joint motor executes a leg stretching instruction to drive a transmission rod system to rotate, so that an included angle between a first transmission rod (1) and a second transmission rod (2) is enlarged, a sliding block (4) at the tail end of a third transmission rod (3) moves upwards along a sliding groove (8), one end of each of two connecting rods (5) rotates inwards around the corresponding sliding block (4), and then two support frames (6) are driven to be folded, and the support wheels are sufficient to form the composite humanoid robot.
7. The control method according to claim 6, wherein after the humanoid robot is finished, the knee joint motor executes a leg bending command to drive the transmission rod system to rotate, so that an included angle between the first transmission rod (1) and the second transmission rod (2) is reduced, the slide block (4) at the end of the third transmission rod (3) moves downwards along the sliding groove, one end of each of the two connecting rods (5) rotates outwards around the slide block (4), and then the two support frames (6) are driven to be unfolded and folded upwards.
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Cited By (1)
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| CN114919675A (en) * | 2022-06-09 | 2022-08-19 | 北京理工大学 | Wheel-foot conversion mechanism and control method thereof |
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